subtask: Place the ice cream into the plate with the right gripper


subtask: Place the cake onto the block toy with the right gripper


subtask: Place the cake on the yellow cube block with the left gripper


subtask: Place the cake on the blue cube block with the right gripper


subtask: Place the cake onto the block toy with the left gripper


subtask: Grasp the cake from the table and with the right gripper


subtask: Grasp the cake from the table and with the left gripper